427 lines
9.2 KiB
C
427 lines
9.2 KiB
C
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#include "stm32f4xx.h"
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#include "board.h"
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#include "if_pwm.h"
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#include "math.h"
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// PE0 PWM 输出脚
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// PE0,PE1,PE2,PE4,都不是定时器输出脚
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// 只能使用普通方式
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// PB7==0时到达上升零点
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// tim2用于调速
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#define GPIO_Initer() {.GPIO_Mode=GPIO_Mode_OUT,\
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.GPIO_Speed=GPIO_Speed_100MHz,\
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.GPIO_OType=GPIO_OType_PP,\
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.GPIO_PuPd=GPIO_PuPd_UP \
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}
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// 重装载值设为31us，引脚翻转一个周期是62us
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#define TIMER_Initer(){\
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.TIM_Period = 31-1,\
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.TIM_Prescaler= 84-1,\
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.TIM_CounterMode=TIM_CounterMode_Up,\
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.TIM_ClockDivision=TIM_CKD_DIV1,\
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}
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#define NVIC_Initer() {0}
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#define EXTI_Initer() {\
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.EXTI_Mode=EXTI_Mode_Interrupt,\
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.EXTI_Trigger=EXTI_Trigger_Falling,\
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.EXTI_LineCmd=ENABLE,\
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}
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typedef struct{
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char *name;
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TIM_TypeDef *tim;
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void (*tim_clock_fun)(uint32_t,FunctionalState);
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uint32_t tim_rcc;
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int irq_channel;
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TIM_TypeDef *tim2;
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void (*tim2_clock_fun)(uint32_t,FunctionalState);
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uint32_t tim2_rcc;
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int irq2_channel;
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void (*gpio_tx_clock_fun)(uint32_t,FunctionalState);
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uint32_t gpio_tx_rcc;
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GPIO_TypeDef *gpio_tx_base;
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uint16_t gpio_tx_pin;
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volatile uint32_t *bitmap_pin;
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void (*gpio_dir_clock_fun)(uint32_t,FunctionalState);
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uint32_t gpio_dir_rcc;
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GPIO_TypeDef *gpio_dir_base;
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uint16_t gpio_dir_pin;
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volatile uint32_t *bitmap_pin_dir;
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void (*gpio_zero_clock_fun)(uint32_t,FunctionalState);
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uint32_t gpio_zero_rcc;
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GPIO_TypeDef *gpio_zero_base;
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uint16_t gpio_zero_pin;
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volatile uint32_t *bitmap_pin_zero;
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int zero_irq_channel;
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uint8_t exti_src_port;
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}pwm_dtb;
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// 可以基于定时器2345
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static const pwm_dtb g_pwmdtb[]={
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{
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.name="pwm1",
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.tim=TIM2,
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.tim_clock_fun=RCC_APB1PeriphClockCmd,
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.tim_rcc=RCC_APB1Periph_TIM2,
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.irq_channel=TIM2_IRQn,
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.tim2=TIM3,
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.tim2_clock_fun=RCC_APB1PeriphClockCmd,
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.tim2_rcc=RCC_APB1Periph_TIM3,
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.irq2_channel=TIM3_IRQn,
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.gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
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.gpio_tx_rcc=RCC_AHB1Periph_GPIOE,
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.gpio_tx_base=GPIOE,
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.gpio_tx_pin=0,
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.bitmap_pin=&PINOUT(E,0),
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.gpio_dir_clock_fun=RCC_AHB1PeriphClockCmd,
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.gpio_dir_rcc=RCC_AHB1Periph_GPIOE,
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.gpio_dir_base=GPIOE,
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.gpio_dir_pin=1,
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.bitmap_pin_dir=&PINOUT(E,1),
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.gpio_zero_clock_fun=RCC_AHB1PeriphClockCmd,
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.gpio_zero_rcc=RCC_AHB1Periph_GPIOB,
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.gpio_zero_base=GPIOB,
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.gpio_zero_pin=7,
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.bitmap_pin_zero=&PININ(B,7),
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.zero_irq_channel=EXTI9_5_IRQn,
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.exti_src_port=EXTI_PortSourceGPIOB,
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},
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};
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typedef struct{
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int tick;
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int step;
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int fre;
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int fre_max;
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int fre_min;
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int up_tick;
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}ctrl_fre;
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typedef struct{
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const pwm_dtb *dtb;
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int count_all;
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int count_past;
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int fre;
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ctrl_fre cfre;
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void (*end_irq)(void *t);
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void *t;
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}self_data;
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static self_data g_self[LENGTH(g_pwmdtb)];
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def_find_fun(pwm_dtb,g_pwmdtb)
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static int init(pwm_def *p)
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{
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param_check(p);
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if(p->private_data) return 0;
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GPIO_InitTypeDef init=GPIO_Initer();
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TIM_TimeBaseInitTypeDef init2=TIMER_Initer();
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NVIC_InitTypeDef init3=NVIC_Initer();
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EXTI_InitTypeDef init4=EXTI_Initer();
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int index;
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const pwm_dtb *dtb=find(p->name,&index);
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self_data *self=&g_self[index];
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self->dtb=dtb;
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self->cfre.step=320;
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self->cfre.fre_min=1100;
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p->private_data=self;
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dtb->tim_clock_fun(dtb->tim_rcc,ENABLE);
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TIM_TimeBaseInit(dtb->tim,&init2);
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TIM_ITConfig(dtb->tim,TIM_IT_Update,ENABLE);
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init2.TIM_Period=1000-1;
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dtb->tim2_clock_fun(dtb->tim2_rcc,ENABLE);
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TIM_TimeBaseInit(dtb->tim2,&init2);
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TIM_ITConfig(dtb->tim2,TIM_IT_Update,ENABLE);
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dtb->gpio_tx_clock_fun(dtb->gpio_tx_rcc,ENABLE);
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init.GPIO_Pin = 1<<dtb->gpio_tx_pin;
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GPIO_Init(dtb->gpio_tx_base, &init);
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dtb->gpio_dir_clock_fun(dtb->gpio_dir_rcc,ENABLE);
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init.GPIO_Pin = 1<<dtb->gpio_dir_pin;
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GPIO_Init(dtb->gpio_dir_base, &init);
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dtb->gpio_zero_clock_fun(dtb->gpio_zero_rcc,ENABLE);
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init.GPIO_Pin = 1<<dtb->gpio_zero_pin;
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init.GPIO_Mode=GPIO_Mode_IN;
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GPIO_Init(dtb->gpio_zero_base, &init);
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init3.NVIC_IRQChannel = dtb->irq_channel;
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init3.NVIC_IRQChannelPreemptionPriority=0;
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init3.NVIC_IRQChannelSubPriority =0;
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init3.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&init3);
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init3.NVIC_IRQChannel = dtb->irq2_channel;
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init3.NVIC_IRQChannelPreemptionPriority=1;
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init3.NVIC_IRQChannelSubPriority =1;
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NVIC_Init(&init3);
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init4.EXTI_Line=1<<dtb->gpio_zero_pin;
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EXTI_Init(&init4);
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SYSCFG_EXTILineConfig(dtb->exti_src_port,dtb->gpio_zero_pin);
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init3.NVIC_IRQChannel = dtb->zero_irq_channel;
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init3.NVIC_IRQChannelPreemptionPriority=0;
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init3.NVIC_IRQChannelSubPriority =0;
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init3.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&init3);
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return 0;
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}
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static int deinit(pwm_def *p)
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{
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param_check(p);
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if(p->private_data==0) return 0;
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NVIC_InitTypeDef init3=NVIC_Initer();
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const pwm_dtb *dtb=find(p->name,0);
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{
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TIM_Cmd(dtb->tim, DISABLE);
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dtb->tim_clock_fun(dtb->tim_rcc,DISABLE);
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dtb->gpio_tx_clock_fun(dtb->gpio_tx_rcc,DISABLE);
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init3.NVIC_IRQChannelCmd = DISABLE;
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NVIC_Init(&init3);
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TIM_ITConfig(dtb->tim,TIM_IT_Update,DISABLE);
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p->private_data=0;
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}
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return 0;
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}
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// step_count有方向，向下为正
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static int start(pwm_def *p,int step_count)
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{
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param_check(p);
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param_check(p->private_data);
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self_data *self=p->private_data;
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if(step_count==0) return 0;
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if((*self->dtb->bitmap_pin_zero==0)&&(step_count<0))
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{
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// 到达零点后不能继续上升
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if(self->end_irq)
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self->end_irq(self->t);
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return -1;
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}
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if(step_count>0)
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*self->dtb->bitmap_pin_dir=0;
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else{
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step_count=-step_count;
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*self->dtb->bitmap_pin_dir=1;
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}
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if(self->fre==0)
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{
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ctrl_fre *cfre=&self->cfre;
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memset(cfre,0,sizeof(ctrl_fre));
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int max_count=0;
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cfre->tick=0;
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cfre->step=320;
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cfre->fre_max=16000;
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cfre->fre_min=1100;
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cfre->up_tick=0;
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cfre->fre=cfre->fre_min;
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}
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irq_disable();
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if(step_count>0)
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{
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self->count_all=step_count;
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}else{
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self->count_all=0;
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}
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self->count_past=0;
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irq_enable();
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TIM_Cmd(self->dtb->tim, ENABLE);
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TIM_Cmd(self->dtb->tim2, ENABLE);
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return 0;
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}
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static inline void self_stop__(self_data *self);
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static int stop(pwm_def *p)
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{
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param_check(p);
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param_check(p->private_data);
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self_data *self=p->private_data;
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self_stop__(self);
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return 0;
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}
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static inline void self_set_fre(self_data *self,int fre)
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{
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// 两个定时器溢出为一个翻转周期，这里重装载值要除2
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TIM_SetAutoreload(self->dtb->tim,1000000/2/fre);
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TIM_SetCounter(self->dtb->tim,0);
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}
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// 设置频率，最低8hz，最高16000hz
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// 如果设置fre为0，则自动运行
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static int set_fre(pwm_def *p,int fre)
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{
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param_check(p);
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param_check(p->private_data);
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self_data *self=p->private_data;
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if(fre==0)
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{
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self->fre=fre;
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return 0;
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}
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if((fre<8)||(fre>16000)) return -1;
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self->fre=fre;
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self_set_fre(self,fre);
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return 0;
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}
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// 设置中断回调
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static int set_irq_fun(pwm_def *p,void (*fun)(void *t),void *t)
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{
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param_check(p);
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param_check(p->private_data);
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self_data *self=p->private_data;
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irq_disable();
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self->end_irq=fun;
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self->t=t;
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irq_enable();
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return 0;
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}
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static inline void self_stop__(self_data *self)
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{
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TIM_Cmd(self->dtb->tim, DISABLE);
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TIM_Cmd(self->dtb->tim2, DISABLE);
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if(self->end_irq)
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self->end_irq(self->t);
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}
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static inline void self_irq(self_data *self)
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{
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rt_interrupt_enter();
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volatile uint32_t *pin=self->dtb->bitmap_pin;
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if(TIM_GetFlagStatus(self->dtb->tim,TIM_FLAG_Update))
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{
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TIM_ClearFlag(self->dtb->tim,TIM_FLAG_Update);
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*pin=!(*pin);
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irq_disable();
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self->count_past++;
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irq_enable();
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if(self->count_all>0&&(self->count_all<=self->count_past))
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{
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self_stop__(self);
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}
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}
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rt_interrupt_leave();
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}
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static inline void calc_up(self_data *self)
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{
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ctrl_fre *cfre=&self->cfre;
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if(self->count_past<self->count_all/2)
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{
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if(cfre->fre<cfre->fre_max)
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cfre->fre+=cfre->step;
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else
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cfre->up_tick++;
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}else{
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if(cfre->up_tick>0)
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cfre->up_tick--;
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else{
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cfre->fre-=cfre->step;
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}
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}
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// 防止速度减到0，永远不停止
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if(cfre->fre<cfre->fre_min)
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cfre->fre=cfre->fre_min;
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}
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static int calc_fre(self_data *self)
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{
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ctrl_fre *cfre=&self->cfre;
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int fre=0;
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calc_up(self);
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fre=cfre->fre;
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// 会每1ms更新一次频率，因此频率必须大于1000
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param_check(fre>1000);
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cfre->tick++;
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return fre;
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}
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static inline void self_irq2(self_data *self)
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{
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rt_interrupt_enter();
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volatile uint32_t *pin=self->dtb->bitmap_pin;
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if(TIM_GetFlagStatus(self->dtb->tim2,TIM_FLAG_Update))
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{
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TIM_ClearFlag(self->dtb->tim2,TIM_FLAG_Update);
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if(self->fre==0)
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self_set_fre(self,calc_fre(self));
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}
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rt_interrupt_leave();
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}
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static inline void self_stop_irq(self_data *self)
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{
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rt_interrupt_enter();
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if(EXTI_GetFlagStatus(1<<self->dtb->gpio_zero_pin)){
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irq_disable();
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self->count_past=0;
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self->count_all=0;
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irq_enable();
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self_stop__(self);
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EXTI_ClearFlag(1<<self->dtb->gpio_zero_pin);
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}
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rt_interrupt_leave();
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}
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void TIM2_IRQHandler(void)
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{
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self_data *self=&g_self[0];
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self_irq(self);
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}
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void TIM3_IRQHandler(void)
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{
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self_data *self=&g_self[0];
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self_irq2(self);
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}
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void EXTI9_5_IRQHandler(void)
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{
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self_data *self=&g_self[0];
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self_stop_irq(self);
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}
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pwm_init_export(pwm1,init,deinit,start,stop,set_fre,set_irq_fun,0)
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